#ifndef __DELIVERY_H
#define __DELIVERY_H

#include "stm32f10x.h"
#include "control.h"
#include "K210.h"
#include "Buzzer.h"
#include "GetYawAngle.h"
#include "OLED.h"
#include "LineSensor.h"
#include "UART.h"
#include "LED.h"
#include "Track.h"
#include "Delay.h"

#define K210_EnterDetectNum     "START"
#define K210_ExitDetectNum      "STOP   "

#define Delay_Time              3000

// #define Run_Straight_Speed      0.5f
// #define Run_Turn_Speed          0.3f

enum
{
    CLOSE_WARD_LEFT = 1,
    CLOSE_WARD_RIGHT,
    MIDDLE_WARD,
    FAR_WARD,
    DELIVERY_TURN_LEFT,
    DELIVERY_TURN_RIGHT,
};

void Delivery_Init(void);
uint8_t Delivery_DetectWardNumber(void);
uint8_t Delivery_DetectSigleNumber(void);
uint8_t Delivery_DetectDoubleNumber(void);
uint8_t Delivery_DetectFourNumber(void);
void Delivery_DriveToWard(uint8_t Ward_Number);
void Delivery_Back(void);
void Delivery(void);


#endif
